无人机绳钩回收系统的动力学特性仿真分析

无人机(UAV)精确定点回收是促进中小型无人机广泛应用的关键技术,而绳钩回收是一种适合小型固定翼无人机在狭窄场地或舰船上实现精确定点回收的先进回收方式,其具有良好的研究应用价值和开发前景。采用基于矢量封闭环、欧拉运动学和动力学方程的联立约束法,解决了无人机绳钩回收系统的空间机构运动的动力学求解问题。基于无人机绳钩回收系统动力学模型,对无人机回收时系统吸能缓冲过程中的动力学特性进行了深入分析。在MATLAB/Simulink环境中通过对动力学模型的仿真,得出以无人机速度变化为代表的系统主要性能指标,同时探讨了参数变化对系统主要性能的影响,并分析了回收过程中拦阻力峰值载荷下的机翼应力和应变。结果表明,无人机绳钩回收性能优良,是一种可开发研制的新型回收技术,为开展无人机绳钩回收系统的工程研制提供了重要的理论参考。

Simulation analysis of dynamic characteristic of UAV rope-hook recovery system

Accurate-point recovery of unmanned aerial vehicle (UAV) is a critical technology to promote the widespread use of small- and medium-sized UAVs. The rope-hook recovery technology provides an advanced accurate-point recovery method for small-sized fixed-wing UAV in limited recovery fields or naval vessels, which is of great value in advanced research and application and has splendid future. The space mechanism dynamics problem of the rope-hook recovery system is resolved by using the simultaneous constraint method based on the closing-vector-circle method and Euler kinematical and dynamical equations. The energy-absorbing and buffer capability of the rope-hook recovery system is deeply analyzed based on the dynamic modeling of UAV rope-hook recovery system. The main characteristic of the system, for instance, the velocity change, is estimated through the simulation of the dynamics modeling in the environment of MATLAB/Simulink. The influences of parameter variation on the system's main characteristics are discussed. The stress and strain of the wing forced by the arresting peak load in the process of recovery are analyzed. The results and analysis show preliminarily that the rope-hook recovery system has good performance and is a new recovery technology to develop. It offers a significant theoretical reference for the manufacture of the UAV rope-hook recovery system.